Bug Fixes

docs/architecture.md

@@ -141,22 +141,24 @@ src/
 ├── main.py                      # Entry point
 ├── vision/
 │   ├── object_detector.py       # ArUco marker detection
-│   ├── visual_odometry.py       # Feature tracking VO
-│   ├── optical_flow.py          # LK optical flow
 │   └── camera_processor.py      # Gazebo camera feeds
-├── localization/
-│   ├── position_estimator.py    # Weighted fusion
-│   └── ekf_fusion.py            # EKF fusion
 ├── navigation/
-│   ├── local_planner.py         # Path planning
-│   └── waypoint_follower.py     # Waypoint tracking
+│   ├── search.py                # Search algorithm controller
+│   ├── flight_tracker.py        # Live flight visualization
+│   └── patterns/
+│       ├── spiral.py            # Expanding square spiral
+│       ├── lawnmower.py         # Back-and-forth lanes
+│       └── levy.py              # Lévy walk random search
 ├── control/
-│   ├── uav_controller.py        # UAV flight control
-│   ├── ugv_controller.py        # UGV drive control
-│   └── search.py                # Search algorithms
-└── safety/
-    ├── geofence_monitor.py      # GPS boundaries
-    └── failsafe_handler.py      # Emergency handling
+│   ├── uav_controller.py        # UAV flight control (pymavlink)
+│   └── ugv_controller.py        # UGV drive control (gz.transport)
+├── safety/
+│   └── geofence.py              # GPS boundary enforcement
+└── utils/
+    ├── config.py                # YAML config loader
+    ├── convert.py               # Unit/coordinate conversions
+    ├── helpers.py               # Distance utilities
+    └── recorder.py              # Video recording & cloud upload
 ```
 
 ## Configuration